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United States Patent |
5,602,347
|
Matsubara
,   et al.
|
February 11, 1997
|
Tool life control method based on disturbance load torque of motor
Abstract
A method for estimating a load acting on a machine tool and controlling a
life of the machine tool based on the estimated load. When predetermined
machining is effected on a predetermined workpiece, a disturbance load
torque acting on a motor for a spindle or a motor for a feed shaft is
estimated by a disturbance estimating observer. When the estimated
disturbance load becomes not lower than a set reference value, a timer is
reset and started. If the estimated disturbance load torque is kept not
smaller than the set reference value until the timer reaches a
predetermined set time, a tool change command is issued to stop the
machining. Since the tool life is determined in accordance with the
magnitude of the load acting on the tool, the tool life is controlled
objectively and accurately.
Inventors:
|
Matsubara; Shunsuke (Oshino-mura, JP);
Iwashita; Yasusuke (Oshino-mura, JP);
Okita; Tadashi (Oshino-mura, JP)
|
Assignee:
|
Fanuc Ltd. (JP)
|
Appl. No.:
|
335879 |
Filed:
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November 15, 1994 |
PCT Filed:
|
March 2, 1994
|
PCT NO:
|
PCT/JP94/00336
|
371 Date:
|
November 15, 1994
|
102(e) Date:
|
November 15, 1994
|
PCT PUB.NO.:
|
WO94/21425 |
PCT PUB. Date:
|
September 29, 1994 |
Foreign Application Priority Data
Current U.S. Class: |
73/862.193; 73/104; 73/862.191; 700/175 |
Intern'l Class: |
G06F 015/00 |
Field of Search: |
73/862.06,862.191,104,862.193
364/474.67
318/568.11,565
|
References Cited
U.S. Patent Documents
3667290 | Jun., 1972 | Hohn | 73/862.
|
4351029 | Sep., 1982 | Maxey et al.
| |
4551808 | Nov., 1985 | Smith et al. | 364/474.
|
4564911 | Jan., 1986 | Smith et al. | 364/474.
|
4802095 | Jan., 1989 | Jeppsson | 73/862.
|
4854161 | Aug., 1989 | Drits | 73/104.
|
4943759 | Jul., 1990 | Sakamoto et al.
| |
5030920 | Jul., 1991 | Nakamura | 73/104.
|
5091684 | Feb., 1992 | Iwashita.
| |
5304906 | Apr., 1994 | Arita et al.
| |
5440213 | Aug., 1995 | Arita et al.
| |
Foreign Patent Documents |
55-5252 | Jan., 1980 | JP.
| |
3-110606 | May., 1991 | JP.
| |
3-103147 | Oct., 1991 | JP.
| |
5-116094 | May., 1993 | JP.
| |
Primary Examiner: Chilcot; Richard
Assistant Examiner: Biegel; Ronald
Attorney, Agent or Firm: Staas & Halsey
Claims
We claim:
1. A method of controlling a tool life of a machine tool having a spindle
and a feed shaft, comprising the steps of:
(a) executing a predetermined machining operation on a predetermined
workpiece using said machine tool;
(b) estimating, using a disturbance estimating observer, a disturbance load
torque acting on a motor for driving said spindle or a motor for driving
said feed shaft during the execution of said machining operation;
(c) comparing said estimated disturbance load torque with a set reference
value and outputting a tool life termination signal when said estimated
disturbance load torque reaches the set reference value; and
controlling said tool life of said machine tool based on said tool life
termination signal.
2. A tool life control method of a machine tool according to claim 1,
wherein said step (c) includes a step of outputting the tool life
termination signal when said estimated disturbance load torque is
maintained at a value not smaller than the predetermined reference value
for at least a predetermined period of time.
3. A tool life control method of a machine tool according to claim 1,
wherein said step (c) includes a step of outputting the tool life
termination signal when said estimated disturbance load torque is
maintained at a value not larger than the set reference value for at least
a set period of time.
4. A tool life control method of a machine tool according to claim 1,
wherein said step (b) includes a step of estimating said disturbance load
torque by said disturbance estimating observer based on a torque command
value given as a command to said motor and an actual speed of said motor.
5. A tool life control method of a machine tool according to claim 4,
wherein said step (c) includes a step of outputting the tool life
termination signal when said estimated disturbance load torque is
maintained at a value not smaller than the set reference value for at
least a set period of time.
6. A tool life control method of a machine tool according to claim 4,
wherein said step (c) includes a step of outputting the tool life
termination signal when said estimated disturbance load torque is
maintained at a value not larger than the set reference value for at least
a set period of time.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a tool life control method for detecting
an expiration of the tool life of a machine tool, and more particularly,
to a tool life control method based on a disturbance load estimation.
2. Description of the Related Art
When a machine tool is used for a long period of time, the tool
progressively wears out, which deteriorates its cutting capability. It is
necessary, therefore, to manage the tools in use so that an exhausted tool
is replaced with a new tool. Conventionally, a tool life control is
performed by observing the tool itself or a condition of the cut workpiece
to see if the tool is worn out. Japanese Patent Laid-Open Publication No.
1-183338 is directed to a method of tool management in which the working
hours of individual tools are integrated and when the integrated working
hours of the tool reaches a predetermined lifetime, the tool is replaced.
In another conventional tool management method, the wear of the tool is
measured by visually observing the tool or the condition of the cut
workpiece. In this case, it depends on the experience and intuition of the
person in charge of the tool management to determine the time for a tool
change. This method lacks accuracy and has no objective criterion for the
tool management. Moreover, according to the aforesaid tool management
method in which the working hours of each tool is integrated and the tool
is changed when the predetermined lifetime is reached by the integrated
time, a tool may be replaced as an exhausted tool even if actual wear of
the tool is so small that the tool is not yet exhausted. On the other
hand, even though the actual tool wear is so large that the time for a
tool change is reached, the tool may fail to be changed since the
.lifetime is not reached by the working time. This method, therefore,
involves the problems such as the deterioration of the machining accuracy
and the waste of energy and time. Thus, this tool life control based on
the working time is not an accurate and absolute method of tool life
control.
SUMMARY OF THE INVENTION
The present invention provides a tool life control method in which the life
of a tool is determined objectively and accurately in accordance with the
estimated magnitude of the load acting on the tool.
A tool life control method for a tool according to the present invention
comprises the steps of: executing predetermined machining on a
predetermined workpiece using a machine tool; estimating, by a disturbance
estimating observer, a disturbance load torque acting on at least one of
motors for driving a spindle and a feed shaft during the execution of the
machining; and comparing the estimated disturbance load torque with a set
reference value and outputting a tool life termination signal when the
estimated disturbance load torque reaches the set reference value.
According to an aspect of the present invention, the disturbance
estimating observer estimates the disturbance load torque based on a
torque command value given as a command to the motor and the actual speed
of the motor.
Since the cutting capability of the tool declines as the tool wears, the
load acting on the tool varies depending on whether the machining is
carried out using an unworn tool or a worn tool when the same machining is
effected on the same workpiece. Thus, a load acting on the motor for
driving a spindle or a feed shaft also varies depending on the degree of
wear of the tool. According to the present invention, the load acting on
the tool is estimated based on the estimation of the disturbance load
torque acting on the motor by the disturbance estimating observer. The
change in the estimated disturbance load torque corresponds to the change
in the load acting on the tool and the progression of the wear of the
tool. Thus, according to the present invention, if the value of the
estimated disturbance load torque continues to change for a set period of
time or longer while the predetermined workpiece is undergoing the
predetermined machining, it is concluded that the tool is worn out and its
life has expired. Thus, a tool life command for tool change is outputted.
In the case where the machining using the tool is such that the cutting
load increases when the tool is worn out, it is concluded that the tool
life has expired when the estimated disturbance load torque is kept not
smaller than the set reference value for the set period of time or longer.
In the case where the machining using the tool is such that the tool slips
on the workpiece surface and the cutting load is extremely reduced to an
extreme when the tool is worn out, it is concluded that the tool life has
expired when the estimated disturbance load torque is kept not smaller
than the set reference value for the set period of time or longer.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram showing a motor control system and a disturbance
estimating observer according to the present invention;
FIG. 2 is a block diagram showing the principal part of a control device of
a machine tool for carrying out the present invention;
FIG. 3 is a flow chart showing a speed loop processing for each speed loop
processing period and a disturbance estimating observer processing
according to one embodiment of the present invention; and
FIG. 4 is a flow chart showing a tool life decision processing to be
executed by a numerical control device.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
FIG. 1 shows a servomotor control system for performing a proportional
control (P control) for the position and a proportional-plus-integral
control (PI control) for the speed, thereby driving a feed shaft of a
machine tool. FIG. 1 further shows an observer 6 for estimating a
disturbance load torque, which is applied to the control system. K.sub.p
of term 1 is a proportional gain for a position loop; term 2 is a transfer
function for a speed loop; K1 is an integral constant; and K2 is a
proportional constant. Terms 3 and 4 are transfer functions of a motor; Kt
is a torque constant; J is inertia; and term 5 is a transfer function for
calculating the position (.theta. by integrating the speed v. Furthermore,
T.sub.L is a disturbance torque, and S is a Laplace operator.
A speed command value Vcmd is obtained by multiplying a position deviation
.epsilon.(=.theta.r-.theta.), which is obtained by subtracting the
feedback value of the present position .theta. from the position command
value .theta.r, by the proportional constant Kp. A torque command (current
command) 1 is obtained by effecting the PI control on the basis of the
difference (speed deviation) between the speed command value Vcmd and the
actual speed v, and the motor current is controlled in accordance with the
obtained torque command in driving the motor. The motor rotates at the
speed v, and the position .theta. is obtained by integrating the speed v.
In estimating the disturbance load torque in this servomotor control
system, the disturbance estimating observer 6 for estimating the
disturbance load torque is incorporated on the basis of the torque command
I and the motor speed v.
K3 of a term 62 and K4 of a term 63 are parameters of the disturbance
estimating observer. The term 61 is a parameter to be multiplied by the
electric current value I as a torque command actually delivered to the
servomotor, and is obtained by dividing an estimated value Kt* of the
torque constant of the motor by an estimated value J* of the inertia. Term
64 designates an integral term.
Analyzing the block diagram of FIG. 1 with Kt=K* and J=J*, we obtain
{I.multidot.Kt+T.sub.L }(1/J.multidot.S)=v (1), and
{I.multidot.(Kt/J)+(v-va)K3+(v-va)(K4/S)}(1/S)=va (2),
where va is an estimated speed or an output of the integral term 64.
From equation (1), we obtain
I=(v.multidot.J.multidot.S-T.sub.L)/Kt (3).
Substituting equation (3) in equation (2) and rearranging it, we obtain
(v.multidot.J.multidot.S-T.sub.L)/J+(v-va)K3+(v-va)(K4/S)=va.multidot.S
(4), and
S(v-va)+(v-va).multidot.K3+(v-va)(K4/S)=T.sub.L /J (5).
From equation (5),
##EQU1##
Based on the above equation (6), an output Td1 of the term 63 is given by
equation (7) as follows:
##EQU2##
Equation (7) indicates that it can be approximated to Td1=T.sub.L /J by
selecting the parameters K3 and K4 of equation (7) so that the pole is
stable, and the total disturbance torque T.sub.L can be estimated.
According to the following equation (8), an estimated disturbance load
torque Td2 is obtained by subtracting a value (k.multidot.v), which is
proportional to the speed v and equivalent to friction torque, from the
total estimated disturbance value Td1, and multiplying the resulting value
by a parameter J*/Kt* in term 65.
Td2=(Td1-k.multidot.v)(J*/Kt*) (8).
Then, machining of a predetermined workpiece is executed according to a
predetermined machining program, and whether or not the life of a tool has
expired is determined depending on the magnitude of the aforesaid
estimated disturbance load torque Td2 obtained at this time.
FIG. 2 is a block diagram showing the principal part of the servomotor
control system which performs the method according to the present
invention. A movement command and various control signals are delivered
from a numerical control device 10 for controlling the machine tool 16 to
a digital servo circuit 12 through a common memory 11. The digital servo
circuit 12, which is provided with a processor, ROM, and RAM, digitally
controls servo control of the position, speed, etc., and controls a
servomotor 14 of each axis through a servo amplifier 13 which comprises a
transistor inverter or the like. Also, a position/speed detector 15 for
detecting the position and speed is composed of a pulse coder or the like
which is mounted on the output shaft of the servomotor, and delivers
position and speed feedback signals to the digital servo circuit 12. This
arrangement is identical with the arrangement of a conventional digital
servo circuit.
Thereupon, the machining of the predetermined workpiece based on the
predetermined machining program is executed in order to determine whether
or not the tool life has expired. The constants K3 and K4, estimated
torque constant value Kt*, estimated inertia value J*, and estimated
friction torque coefficient k of the observer 6 are previously set in the
digital servo circuit 12. Also, a reference value Ts for detecting the
tool life and a load change duration are previously set in the numerical
control device.
FIG. 3 is a flow chart showing a speed loop processing, performed by the
processor of the digital servo circuit 3 with every speed loop processing
period, and showing a processing by the disturbance estimating observer.
When the machining is started, the processor of the digital servo circuit
12 executes this processing with every speed loop processing period.
First, the speed command value Vcmd obtained through a position loop
processing and the speed feedback value v indicative of the actual speed
of the servomotor fed back from the position/speed detector 15 are read in
Step S1. In Step S2, the torque command I is obtained by executing the
speed loop processing in the aforesaid manner based on the speed command
value Vcmd and the speed feedback value v, and is delivered to a current
loop. Then, the processing by the disturbance estimating observer is
started. In Step S3, the difference Verr between the actual speed and the
estimated speed is obtained by subtracting the estimated speed va stored
in a register R(va) from the speed feedback value v read in Step S1. In
Step S4, moreover, the total estimated disturbance value Td1 for the
period concerned is obtained by adding a value, which is obtained by
multiplying the obtained difference Verr by a set constant K4, to an
accumulator, which stores the total estimated disturbance value Td1. This
processing of Step S4 is a processing based on the element 63 in FIG. 1.
Then, in Step S5, the total estimated disturbance value Td1 obtained in
Step S4 is added to the value in the register R(va), which stores the
estimated speed va, and the product of the difference Verr obtained in
Step S3 and the constant K3 is added. Furthermore, the estimated speed
value va for the period concerned is obtained by adding the product of the
torque command I, which is stored in a register R(I) and read in the
preceding period, to the ratio (Kt*/J*) between the estimated torque
constant and the estimated inertia, and is loaded into the register R(va).
This processing of Step S5 is a processing in which the estimated speed va
is obtained through processing by the elements 61, 62, 64, etc. in FIG. 1.
In Step S6, the torque command value I read in Step S2 is loaded into the
register R(I). In Step S7, the friction torque (k.multidot.v) which is
proportional to the speed is subtracted from the total estimated
disturbance value Td1 obtained in Step S4. Then, the obtained value is
multiplied by the ratio (J*/Kt*) between the estimated inertia and the
estimated torque constant to obtain the estimated disturbance load torque
Td2 excluding the friction torque. Thus, the estimated disturbance load
torque Td2 is obtained by executing the computation of the aforesaid
equation (8) in accordance with the total estimated disturbance value Td1,
set coefficient k, speed feedback value V read in Step S1, and ratio
(J*/Kt*) between the estimated inertia and the estimated torque constant.
The estimated disturbance load torque Td2 thus obtained is written in the
common memory 11 in Step S8, whereupon processing of the speed loop
concerned terminates. Thereafter, the aforementioned processings are
executed with every speed loop processing period, so that the estimated
disturbance load torque Td2 which changes every moment is written in the
common memory 11.
On the other hand, a processor for PMC (programmable machine controller),
which executes sequence control in the numerical control device 1 0,
executes the processings shown in FIG. 4 with every predetermined period
which is longer than the aforesaid speed loop processing period.
First, the estimated disturbance load torque Td2 is read from the common
memory 11 in Step A1, and it is determined in Step A2 whether or not the
absolute value of the estimated disturbance load torque Td2 is larger than
or equal to a set reference value Ts. If the absolute value of Td2 is
smaller than the set reference value Ts, the program advances to Step A3,
whereupon a flag F is set at "0" to terminate the processings for the
period concerned, concluding that the tool life has not yet expired. On
the other hand, if the absolute value of the estimated disturbance load
torque Td2 is not smaller than the set reference value Ts, the program
advances to Step A4, whereupon it is determined whether or not the flag F
is set at "1". If the flag F is not set at "1", a timer te is reset and
started in Step A5, and the flag F is set at "1" in Step A6. If the
absolute value of the estimated disturbance load torque Td2 is not smaller
than the set reference value Ts also in the next period, the program
proceeds from Step A4 to Step A7, since the flag F is set at "1" in the
preceding period. In Step A7, it is determined whether or not a set time
to is reached or exceeded by the timer te. If the set time to is not
reached, the processings for the period concerned are finished.
Thereafter, the aforesaid processings of Steps A1, A2, A4 and A7 are
repeated as long as the absolute value of the estimated disturbance load
torque Td2 is kept larger than or equal to the set reference value Ts. If
it is concluded in Step A7 that the set time to is reached or exceeded by
the value in the timer te, a tool change command as a tool life signal is
outputted, concluding that the tool life has expired, thereby causing a
display unit or the like to display a message to the effect that the tool
life has expired and that the tool should be replaced, in Step A8. Then,
in Step A9, a machining stop command is outputted to stop the machining.
After the timer starts the timing operation as the absolute value of the
estimated disturbance load torque Td2 is not smaller than the set
reference value Ts, if the absolute value of the estimated disturbance
load torque Td2 becomes smaller than the set reference value Ts before the
timer te reaches the set time t0, the flag F is set at "0" in Step A3, and
the processings of Step A1, A2 and A3 are repeated without outputting the
tool change command. When the absolute value of the estimated disturbance
load torque Td2 becomes not smaller than the set reference value Ts again,
the processings of Steps A1, A2, and A4 to A6 are executed, whereupon the
timer te is reset again to start the timing operation.
Thus, the tool change command is outputted only when the absolute value of
the estimated disturbance load torque Td2 is kept not smaller than the set
reference value Ts for a predetermined period of time te or longer, and
the tool change command will not be outputted even if the reference value
TS is exceeded instantaneously by the estimated disturbance load torque
Td2.
Described in connection with the above embodiment is an example in which
wear of the tool is detected in the case where the tool and machining are
such that the load increases when the tool wears. On the contrary, in the
case where the tool slips on the surface of workpiece due to the reduction
of the load caused by the wear of the tool, the tool life detection
processing differs from the processing shown in FIG. 4 only in that the
program proceeds from Step A2 to Step A4 when the absolute value of the
estimated disturbance load torque Td2 becomes not larger than a set
reference value Ts'.
Furthermore, according to the foregoing embodiment, the tool life is
detected by the feed shaft of the machine tool. Alternatively, however,
the tool life may be detected by determining the load acting on a spindle
by the disturbance estimating observer. In this case, as the spindle is
not subjected to position control normally, the position feedback control
and the element 1 shown in FIG. 1 are eliminated. This processing differs
only in that a speed command is applied directly to the element 2, so that
the rest of the processing remains the same as the one shown in FIG. 1,
and the disturbance estimating observer 6 remains unchanged. Furthermore,
in this case, the element 12, the servo amplifier as the element 13, and
the motor shown in FIG. 2 are replaced with a digital circuit for
controlling the spindle, a spindle amplifier, and a spindle motor,
respectively.
According to the present invention, whether or not the tool life has
expired is determined depending on the magnitude of the estimated load
acting on the tool, so that the tool life and the time for tool change can
be judged objectively and accurately.
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